Material grabbing and wire hanging equipment

Abstract

The utility model discloses material grabbing and wire hanging equipment which comprises a support, a material taking mechanism, a material hanging mechanism and a roller bag taking mechanism, the material taking mechanism and the material hanging mechanism are arranged on the two sides of the support respectively, the roller bag taking mechanism is arranged between the material taking mechanism and the material hanging mechanism, corresponding objects are moved to the position of the roller bag taking mechanism through the material taking mechanism, and corresponding packages of the objects are removed through the roller bag taking mechanism. The material hanging mechanism is used for taking away objects with packages removed from the roller bag taking mechanism, the actions of feeding, bag removing and the like are automatically completed, and efficiency is improved.

Description

Technical Field

[0001] This utility model relates to the technical field of material handling devices, specifically to a material grabbing and wire hanging device. Background Technology

[0002] The wire reel is usually covered with a packaging bag. During the wire reel feeding process, the packaging bag usually needs to be removed manually. After that, the wire is fed manually or mechanically. The method of removing the packaging bag manually is inefficient and needs to be improved. Utility Model Content

[0003] To address at least one of the aforementioned technical deficiencies, this utility model provides the following technical solution:

[0004] This application discloses a material grabbing and hanging device, including a support, a material grabbing mechanism, a material hanging mechanism, and a roller bag grabbing mechanism. The material grabbing mechanism and the material hanging mechanism are respectively arranged on both sides of the support, and the roller bag grabbing mechanism is arranged between the two. The material grabbing mechanism moves the corresponding object to the roller bag grabbing mechanism, the roller bag grabbing mechanism removes the corresponding packaging of the object, and the material hanging mechanism takes away the object that has been removed from the roller bag grabbing mechanism.

[0005] The material handling mechanism includes a lifting mechanism, a robotic arm, a gripper mechanism, and a vision recognition mechanism. The robotic arm is located at the moving end of the lifting mechanism. A gripper mechanism for clamping is located at the bottom surface of the arm at the head end of the robotic arm, and a vision recognition mechanism is located on the arm on one side of the gripper mechanism to identify the position of the object.

[0006] The material hanging mechanism includes a second lifting mechanism, a second robotic arm, a second vision recognition mechanism, and an insertion mechanism. The second robotic arm is installed at the moving end of the second lifting mechanism, and the insertion mechanism and the second vision recognition mechanism are installed at the arm of the second robotic arm. The insertion mechanism includes a drive mechanism and an insertion post installed at its moving end, so that the drive mechanism rotates the insertion post in the longitudinal direction and the second vision recognition mechanism identifies the position of the object.

[0007] The roller bag-collecting mechanism includes a carrier, rollers, and a power mechanism. The rollers are arranged side by side on the carrier and driven to rotate by the power mechanism. Material unloading ports are provided at the corresponding locations on the carrier between the rollers.

[0008] In use, the vertical height of the robotic arm is adjusted by the lifting mechanism, the position of the object to be gripped is determined by the visual recognition mechanism, the position of the gripper mechanism is adjusted by the robotic arm in conjunction with the lifting mechanism, the gripper mechanism grips the required object, the position of the gripper mechanism is adjusted by the robotic arm in conjunction with the lifting mechanism, and the gripper mechanism releases so that the gripped object falls to the roller bag-retrieving mechanism.

[0009] The roller bag-removing mechanism uses the rotation of the rollers to pull down the packaging bags located between the two rollers, causing the packaging bags covering the object to detach.

[0010] The visual recognition mechanism identifies the position of the object at the roller bag-picking mechanism. The lifting mechanism, together with the robotic arm, adjusts the position of the insertion mechanism. The drive mechanism adjusts the orientation of the insertion post, inserts the post into the corresponding cavity of the object, and the drive mechanism rotates the post to lift the object. The lifting mechanism, together with the robotic arm, moves the object to the required position, thus automating the feeding and bag removal processes and improving efficiency.

[0011] Furthermore, the roller bag-picking mechanism includes a cutting mechanism, which comprises a drive motor, positive and negative lead screws, nuts, and cutters. Positive and negative lead screws are installed at the bottom of the carrier fabric opening, and cutters are respectively installed at the opposite end faces of the two nuts connected to the lead screws. The drive motor drives the positive and negative lead screws to rotate, simultaneously causing the two nuts to move towards or away from each other. The cutters then merge to cut or separate the material opening. Taking a wound spool as an example, when the packaging bag is pulled down, some threads are also simultaneously dragged down to avoid affecting the subsequent picking up and moving of the spool by the insert pins. The merging of the cutters to cut the threads at the material opening helps improve the stability of the equipment operation.

[0012] Furthermore, the carrier includes a fixed frame and a disc body. The fixed frame is fixed to the support. The disc body is mounted on the fixed frame and a roller is installed inside the cavity of the disc body. A material inlet is provided at the bottom wall of the disc body and positive and negative lead screws are provided at the bottom surface of the disc body. The layout is reasonable and facilitates assembly and molding.

[0013] Furthermore, it also includes a support column, which is set in the disc cavity on one side of the roller. The top of the support column is higher than the roller. The support column supports the object transferred by the material picking mechanism so that it is tilted. When the material picking mechanism moves the object to the roller bag picking mechanism, the support column supports the object to keep it in a certain tilted state, which facilitates the subsequent insertion and picking of the insert column.

[0014] Furthermore, the driving mechanism includes a motor, a fixed plate, and a pin. The motor is mounted on the second robotic arm, and the fixed plate is longitudinally connected to the output end of the motor. The fixed plate is equipped with a pin and a second vision recognition mechanism. The motor drives the fixed plate to synchronously adjust the orientation of the pin, and the fixed plate supports the picked-up object, which helps to improve the stability of operation.

[0015] Furthermore, both robotic arms one and two are planar two-bar type. A rotary motor is installed at the first end of the first arm of robotic arm two, and a fixed arm is installed at the output end of the rotary motor. An insertion mechanism and a second vision recognition mechanism are installed at the fixed arm. The orientation of the insertion mechanism and the second vision recognition mechanism can be adjusted by the rotary motor to facilitate subsequent material unloading at the required position.

[0016] Furthermore, it also includes a base, on which the support is mounted, such as by pre-positioning the object to be gripped.

[0017] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0018] 1. This utility model features a completely new structural design, automated operation, and improved efficiency. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of this utility model, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a schematic diagram of the material grabbing and wire hanging device in Example 1;

[0021] Figure 2 This is a schematic diagram of the material grabbing and wire hanging device in Example 1;

[0022] Figure 3 This is a schematic diagram of the roller bag-taking mechanism;

[0023] Figure 4 This is a schematic diagram of the roller bag-taking mechanism;

[0024] The attached figures are labeled as follows:

[0025] 1. Base; 2. Bracket; 3. Material handling mechanism; 4. Material hanging mechanism; 5. Roller bag handling mechanism; 6. Silk reel; 30. Lifting mechanism one; 31. Robotic arm one; 32. Gripper mechanism; 33. Vision recognition mechanism one; 34. Fixed arm; 35. Rotary motor; 40. Robotic arm two; 41. Vision recognition mechanism two; 42. Lifting mechanism two; 43. Insertion mechanism; 50. Fixed frame; 51. Disc body; 52. Roller; 53. Power mechanism; 54. Material inlet; 55. Positive and negative lead screws; 56. Nut; 57. Cutting knife; 58. Drive motor; 59. Support column; 430. Motor; 431. Fixing plate; 432. Insertion column. Detailed Implementation

[0026] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0027] Example 1

[0028] like Figure 1 , Figure 2 As shown, in this example, the material grabbing and wire hanging device includes a support 2, a material grabbing mechanism 3, a material hanging mechanism 4, and a roller bag grabbing mechanism 5. The columnar support 2 is fixed to one side of the base 1. A material tray containing the object to be loaded can be pre-placed on the base 1. The object to be loaded may be a wire tray 6 wrapped with thread and covered with a packaging bag. Figure 1 , Figure 2 As shown, the silk spool 6 is stacked on the material tray, and the material tray is placed on the base 1.

[0029] The material picking mechanism 3 and the material hanging mechanism 4 are respectively installed on opposite sides of the bracket 2, and the roller bag picking mechanism 5 is installed on the side of the bracket between the two. The coordination is as follows: the material picking mechanism 3 moves the silk spool 6 to the roller bag picking mechanism 5, the roller bag picking mechanism 5 removes the packaging bag covering the silk spool, and the material hanging mechanism 4 removes the silk spool with the packaging bag removed from the roller bag picking mechanism 5. Then it can be moved to the required position as needed.

[0030] The material handling mechanism 3 includes a lifting mechanism 30, a robotic arm 31, a gripper mechanism 32, and a vision recognition mechanism 33. The lifting mechanism can be of various types, such as a lead screw shifting type, a gear shifting type, or a rack and pinion shifting type. The robotic arm 31 is installed at the moving end of the lifting mechanism 30 to adjust its longitudinal height. The robotic arm can be sourced from the market according to requirements, such as the planar two-bar type selected in this example. The gripper mechanism 32 is installed at the bottom surface of the first arm of the robotic arm 31. The gripper mechanism can be of common types, such as a cylinder gripper or a forward and reverse lead screw gripper. In this example, a motor is used to drive the forward and reverse lead screws to rotate, which causes the nuts on the forward and reverse lead screws to move towards or away from each other, and simultaneously causes the grippers on the nuts to merge or separate. During the process of the grippers merging, the wire disc on the material tray is held. Of course, the wire disc can also be held by the internal support when the grippers separate. A vision recognition mechanism 33, such as a common industrial camera, is installed on the arm on one side of the gripper mechanism 32. The vision recognition mechanism 33 identifies the position of the silk spool. The information identified by the vision recognition mechanism 33 is transmitted to the control terminal. The control terminal operates the robotic arm 1 and the lifting mechanism 1 to adjust the position of the gripper mechanism so that the gripper mechanism can hold the silk spool. Then, the lifting mechanism 1 and the robotic arm 1 adjust the position of the gripper mechanism so that the silk spool can be moved to the roller bag picking mechanism.

[0031] The material hanging mechanism 4 includes a second lifting mechanism 42, a second robotic arm 40, a second vision recognition mechanism 41, and an insertion mechanism 43. The second lifting mechanism can be of the lead screw displacement type, gear type, rack and pinion type, etc. The second robotic arm 40 is installed at the moving end of the second lifting mechanism 42. The second robotic arm can also be of the planar two-bar type. The insertion mechanism 43 and the second vision recognition mechanism 41 are installed at the first end of the arm of the second robotic arm 40. The second vision recognition mechanism can also be of the industrial camera type. The second vision recognition mechanism identifies the position of the silk reel at the roller bag picking mechanism. The control terminal operates the second lifting mechanism and the second robotic arm to adjust the position of the insertion mechanism according to the identified information, so that the insertion mechanism can pick up the silk reel.

[0032] For the insertion mechanism, such as insertion mechanism 43 including a drive mechanism and a fixed insertion post 432 at its moving end, the drive mechanism includes a motor 430, a fixed plate 431, and insertion post 432. The motor 430 is mounted on the second robotic arm 40, and the fixed plate 431 is longitudinally mounted at the output end of the motor. The insertion post 432 is fixed on the fixed plate 431. A second vision recognition mechanism 41 is mounted on the fixed plate 431 on one side of the insertion post 432. The motor 430 drives the fixed plate 431 to synchronously adjust the orientation of the insertion post 432. After the insertion post is inserted into the cavity corresponding to the wire spool, the motor drives the fixed plate to rotate upward in the longitudinal direction, thereby causing the insertion post to lift the wire spool. Then, the control end operates the second lifting mechanism and the second robotic arm to adjust the position, and the motor rotates the fixed plate downward, so that the wire spool lifted on the insertion post can slide down accordingly.

[0033] To improve flexibility, in this example, a rotary motor 35 (i.e., a conventional motor) is longitudinally mounted at the first end of the robotic arm 40. An L-shaped fixed arm 34 is installed at the output end of the rotary motor 35. The horizontal end of the fixed arm 34 is fixed to the output end of the rotary motor 35, and the vertical end of the fixed arm is fixed to the motor 430 in the drive mechanism. The orientation of the insertion mechanism and the second vision recognition mechanism can be adjusted by the rotary motor to facilitate subsequent position recognition and material unloading at the required position.

[0034] For the roller bag-picking mechanism, such as Figure 3 , Figure 4 As shown, the roller bag-taking mechanism 5 includes a carrier, rollers 52 and a power mechanism 53. The rollers 52 are rotatably connected side by side on the carrier. The power mechanism drives the rollers to rotate. The power mechanism is a type of drive motor 58 that works with a gear transmission mechanism. Under the transmission of the gear transmission mechanism, the drive motor drives the two rollers to rotate. There is a gap of a predetermined width between the two rollers 52. The material outlet for unloading is formed at the corresponding position of the carrier below the gap.

[0035] For the carrier, such as a fixed frame 50 and a disc 51, the fixed frame 50 is fixed to the support 2, the disc 51 is fixed on the fixed frame 50, and a roller 52 is installed inside the cavity of the disc 51. A material outlet 54 is formed at the bottom wall of the disc 51. In use, the material picking mechanism places the silk disc on the disc roller. The packaging bag material outlet at the bottom of the silk disc is located between the two rollers 52. The roller rotates and pulls down the packaging bag and discharges it from the material outlet. After the packaging bag is removed from the silk disc, the silk disc is removed from the disc by the hanging mechanism. In addition, a support column 59 can be added. The support column 59 is installed in the cavity of the disc 51 on one side of the roller 52. The top of the support column 59 is higher than the roller 52. When the material picking mechanism moves the silk disc to the disc, the support column supports the disc so that it is tilted, which facilitates the subsequent insertion and picking mechanism to insert into the corresponding cavity of the silk disc and pick up the silk disc.

[0036] In addition, a cutting mechanism can be added, which includes a drive motor 58, a positive and negative lead screw 55, a nut 56, and a cutter 57. The positive and negative lead screw 55 is installed on the bottom fabric opening 54 side of the disc body 51 in the carrier. The drive motor 58 is installed at the end of the positive and negative lead screw 55 to drive the positive and negative lead screw to rotate. The cutter 57 is installed on the opposite end face of the two nuts 56 connected to the positive and negative lead screw. During the rotation of the positive and negative lead screw, the two nuts move towards each other or away from each other, and the cutter 57 is closed to cut or separate the fabric opening. When the packaging bag is pulled down, some threads are also pulled down synchronously to avoid affecting the subsequent insertion of the insert and movement of the fabric disc. The cutter 57 is closed to cut the threads at the fabric opening.

[0037] This equipment can automate tasks such as bag picking and material loading, which helps improve efficiency.

[0038] The above are merely preferred embodiments of this utility model. The protection scope of this utility model is not limited to the above embodiments. All technical solutions falling within the scope of this utility model's concept are within its protection scope. It should be noted that for those skilled in the art, any improvements and modifications made without departing from the principle of this utility model should also be considered within its protection scope.

Claims

1. A yarn catching device, characterized in that Including support (2), take material mechanism (3), hang material mechanism (4), drum take bag mechanism (5), the both sides of support (2) are provided with take material mechanism (3), hang material mechanism (4) respectively and are provided with drum take bag mechanism (5) between two, with take material mechanism (3) to remove corresponding object to drum take bag mechanism (5) place, with drum take bag mechanism (5) to remove object corresponding packing, with hang material mechanism (4) to take away the object that has removed packing at drum take bag mechanism (5); The take material mechanism (3) includes lifting mechanism one (30), mechanical arm one (31), clamping jaw mechanism (32), visual identification mechanism one (33), the moving end of lifting mechanism one (30) is provided with mechanical arm one (31), the first end arm rod bottom surface of mechanical arm one (31) is provided with the clamping jaw mechanism (32) for clamping and the arm rod at one side of clamping jaw mechanism (32) is provided with visual identification mechanism one (33), to identify the position of object with visual identification mechanism one; The hang material mechanism (4) includes lifting mechanism two (42), mechanical arm two (40), visual identification mechanism two (41), plug mechanism (43), the moving end of lifting mechanism two (42) is provided with mechanical arm two (40), the first end arm rod of mechanical arm two (40) is provided with plug mechanism (43) and visual identification mechanism two (41), the plug mechanism (43) includes driving mechanism and the plug column (432) provided at the moving end of driving mechanism, to rotate plug column (432) in longitudinal direction with driving mechanism, to identify the position of object with visual identification mechanism two; The drum take bag mechanism (5) includes carrier, drum (52) and power mechanism (53), the drum (52) is arranged side by side on the carrier and the drum is rotated by power mechanism (53), the corresponding carrier at the drum (52) is provided with material opening (54) for unloading.

2. The thread gripping device according to claim 1, wherein: The drum take bag mechanism (5) includes cutting mechanism, the cutting mechanism includes driving motor (58), positive and negative screw rod (55), nut (56), cutting knife (57), the positive and negative screw rod (55) is provided at the material opening (54) of carrier bottom surface and the two nuts (56) connected with the positive and negative screw rod (55) are provided at the opposite end surfaces of the two nuts (56) respectively cutting knife (57), to rotate the positive and negative screw rod with driving motor, synchronously make the two nuts move towards or away from each other, cutting knife corresponds to merge to cut or separate at material opening.

3. The filament grasping and breaking apparatus of claim 2 wherein: The carrier includes fixed frame (50) and disc body (51), the fixed frame (50) is fixed with support (2), the disc body (51) is provided on the fixed frame (50) and the drum (52) is provided in the cavity of disc body (51), the material opening (54) is provided at the bottom wall of disc body (51) and the positive and negative screw rod (55) is provided at the bottom surface of disc body (51).

4. The filament grasping and breaking apparatus of claim 3 wherein: It also includes support column (59), the support column (59) is arranged in the cavity of disc body (51) on one side of drum (52), the top end of support column (59) is higher than drum (52), to support the object moved by taking material mechanism to make it be inclined.

5. The filament grasping device of claim 1, wherein: The driving mechanism comprises a motor (430), a fixed plate (431) and a plug column (432), the motor (430) is arranged on the mechanical arm two (40), the output end of the motor (430) is longitudinally connected with the fixed plate (431), the plug column (432) and the visual identification mechanism two (41) are arranged on the fixed plate (431).

6. The filament grasping device of claim 1, wherein: The mechanical arm one (31) and the mechanical arm two (40) are both planar two-rod types, the rotary motor (35) is arranged at the first end arm rod of the mechanical arm two (40), the fixed arm (34) is arranged at the output end of the rotary motor (35), the plug and pull mechanism (43) and the visual identification mechanism two (41) are arranged at the fixed arm (34).

7. The filament grasping device of claim 1, wherein: The base (1) is further included, and the support (2) is arranged on the base (1).

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